arXiv:2608. 00715v1 Announce Type: cross Abstract: Learning-based controllers can deliver exoskeleton assistance after training entirely in physics-based simulation, yet few controllers that address human-device co-adaptation have been validated on real users by whole-body metabolic measurement, the standard benchmark for assistive walking.
By Yifei Yuan, Jakob Wolf, Ghaith Androwis, Xianlian Zhou
UniExo is a framework that builds a single, multi-skill musculoskeletal human policy by distilling four imitation experts—walking, turning, running, and backward walking—into one network guided by a skill latent. The human policy is fine‑tuned with reinforcement learning on transition sequences, achieving a 94.7% tracking success rate on unseen clips and greater robustness to perturbations. A hip exoskeleton controller is then co‑adapted with this human policy via multi‑agent reinforcement learning, enabling it to assist across four treadmill speeds and a continuous route of all four skills without explicit mode switching.
By Yifei Yuan, Jakob Wolf, Ghaith Androwis, Xianlian Zhou
The paper evaluates six onboarding strategies for federated wearable models on five datasets using a leakage‑controlled protocol that fixes source checkpoints and separates calibration from evaluation. Results show that while average accuracy is high, person‑level performance can drop significantly, with some methods causing negative transfer for certain users. The study highlights that mean accuracy alone is insufficient and provides an auditable benchmark and failure map for future development.
By Rahil Aftab, Vineet Kumar Rakesh, Soumya Mazumdar, Tapas Samanta
arXiv:2609.28427v1 Announce Type: new
Abstract: Personalizing exoskeleton assistance across operating conditions is constrained by the time and physical effort required to collect user feedback. We e...
By Sunin Baek, Sungwoo Park, Daekyum Kim
arXiv:2606. 05234v1 Announce Type: cross Abstract: Wearable exoskeleton systems hold promise for restoring mobility in individuals with physical impairments, yet most existing controllers rely on static gait policies that lack the ability to adapt to dynamic real-world environments or individual user characteristics.
By Dong Liu, Yanxuan Yu, Ben Lengerich, Tony Geng, Ying Nian Wu
arXiv:2606. 24960v1 Announce Type: new Abstract: Tailoring stroke rehabilitation requires assessing how movements are organized, not merely if they succeed.
By Tamim Ahmed, Thanassis Rikakis
The study investigates how well a single consumer earbud IMU can estimate 3D body pose and whether adding foot IMUs improves accuracy. Using a multimodal capture pipeline with RGB‑D video, an AirPods head IMU, and Striv insole IMUs, the authors benchmark pose estimation across various motions and train recurrent models (IMUPoser and MobilePoser). Results show that a head IMU alone achieves 79.0 mm rigid‑MPJPE and 0.809 macro‑F1 for foot contact, while adding foot IMUs does not significantly improve pose and can even degrade performance due to insole orientation errors.
arXiv:2609.22619v1 Announce Type: new
Abstract: Tracking recovery of walking function requires detecting meaningful gait change across rehabilitation sessions, yet objective 3D measurement remains co...
By Nethmi Jayasinghe, Mihir Parashar, Amit Ranjan Trivedi
The paper presents a training‑free method for detecting which holds a climber uses in sport climbing videos by leveraging a frozen foundation pose model (Sapiens) that provides fingertip and toe keypoints. Using a simple proximity test, mutual exclusion, and a temporal‑persistence rule, the approach achieves high F_1 scores (up to 90.2%) on the Way Up dataset without any climbing‑specific training, outperforming repurposed pose pipelines. The resulting automatic predictions enable accurate coaching statistics, such as climb time and pace, with Pearson correlations of 1.00 and 0.94 respectively.
By Abu Bakar, Abdullah Aftab, Amir Hamza
This scoping review examined 117 studies on video-based markerless motion capture, most published from 2024 onward and focused on healthy adults walking in laboratories. The studies identified five main pipeline architectures, but most reported only raw joint angles without biomechanical refinement, achieving sagittal lower‑limb agreement of about 5–6°, which falls short of clinical acceptability. Validation of out‑of‑plane kinematics, kinetics, and performance in older or pathological populations was rare, and emerging computer‑vision techniques such as foundation‑model mesh recovery and differentiable inverse kinematics were largely absent from validated work.
By Florian Delaplace (LAMHESS, CHU), Elodie Piche (LAMHESS), Fr\'ed\'eric Chorin (IUF, LAMHESS), Raphael Zory (IUF, LAMHESS)
RevalExo is a new benchmark for locomotion mode recognition that focuses on functional daily activities performed by older adults and clinical cohorts. It includes 27 participants from three groups—healthy older adults, stroke survivors, and older adults with probable sarcopenia—recorded with lower-body IMUs and, for a subset, synchronized egocentric video. The dataset offers 10.1 hours of frame‑level annotations across 11 locomotion modes, and the authors evaluate unimodal, multimodal, cross‑population, and cross‑modal recognition challenges, finding that sensor fusion improves performance but transitions and generalization remain difficult.
By Diwas Lamsal, Juha Carlon, Reinhard Claeys, Maxim Yudayev, Louis Flynn, Tom Verstraten, David Beckw\'ee, Eva Swinnen, Mihai B\^ace, Bart Vanrumste, Benjamin Filtjens
arXiv:2607. 20237v1 Announce Type: new Abstract: Rehabilitation scoring systems are most useful when their outputs can be reviewed and interpreted within clinical workflows.
By Yankai Zheng, Yuhe Liu, Yuxin Ma, Tianci Xue, Jiayuan Tian, Yu Fu, Yuxuan Hu, Jianing Wang, Zichun Xiao, Junya Mu, Shaohui Ma